Related papers: Perceptually Lossless Tactile Texture Synthesis wi…

Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…

Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

We introduce an audio texture synthesis algorithm based on scattering moments. A scattering transform is computed by iteratively decomposing a signal with complex wavelet filter banks and computing their amplitude envelop. Scattering…

Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…

With the advent of perceptual loss functions, new possibilities in super-resolution have emerged, and we currently have models that successfully generate near-photorealistic high-resolution images from their low-resolution observations. Up…

High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…

Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…

Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specific sensor design. We address this problem by performing…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

We introduce a two-stream model for dynamic texture synthesis. Our model is based on pre-trained convolutional networks (ConvNets) that target two independent tasks: (i) object recognition, and (ii) optical flow prediction. Given an input…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

Dynamic textures exist in various forms, e.g., fire, smoke, and traffic jams, but recognizing dynamic texture is challenging due to the complex temporal variations. In this paper, we present a novel approach stemmed from slow feature…

Tactile signals collected by wearable electronics are essential in modeling and understanding human behavior. One of the main applications of tactile signals is action classification, especially in healthcare and robotics. However, existing…

Illustrative textures, such as stippling or hatching, were predominantly used as an alternative to conventional Phong rendering. Recently, the potential of encoding information on surfaces or maps using different densities has also been…

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…

In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…

To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a…

We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…

We utilize the dynamics involved in the imaging of a fingerprint on a touch-based fingerprint reader, such as perspiration, changes in skin color (blanching), and skin distortion, to differentiate real fingers from spoof (fake) fingers.…